void updateWindowMenu(void)
{
Window win;
updateWindowCnt++;
if(updateWindowCnt>=WINDOWREFRESH)
updateWindowCnt=0;
else
return;
if(windowListCnt>-1)
resetMenus();
getCurrentDesktop();
if(windowDeskMenu!=NULL)
{
win=mainwind->rootWindow;
windowDeskListCnt=0;
while(win!=None)
win=doTreeWalk(win,true);
if(windowDeskListCnt>0)
{
windowDeskMenu->LFSTK_updateMenus(windowDeskList,windowDeskListCnt);
windowDeskMenu->LFSTK_setActive(true);
}
else
windowDeskMenu->LFSTK_setActive(false);
}
if(windowMenu!=NULL)
{
windowListCnt=0;
win=mainwind->rootWindow;
while(win!=None)
win=doTreeWalk(win,false);
windowMenu->LFSTK_updateMenus(windowList,windowListCnt);
}
}
/**
* @brief This method runs when the 'task_user' is called.
*
* @details This method runs inifitely when the task is called so all logic
* is contained in here. A for(;;) loop runs until it gets to the
* end where it delays for 1 ms to allow other lower level
* priority tasks a chance to run.
*/
void task_user::run (void)
{
time_stamp a_time; // Holds the time so it can be displayed
number_entered = 0; // Holds a number being entered by user
//
for (;;)
{
switch (state)
{
// Initialize first task where we wait for
case (0):
printMainMenu();
// If the user typed a character, read
if (hasUserInput())
{
// In this switch statement, we respond to different characters as commands typed in by the user
switch (char_in)
{
// The 't' command asks what time it is right now
case ('m'):
*p_serial << PMS("->Selected: ") << char_in;
*p_serial
<< endl
<< endl
<< PMS ("\t->Switching to Motor Module..")
<< endl
<< PMS ("\t->Clearing Registers and Menus..")
<< endl
<< PMS ("\t->Intializing Motors..")
<< endl;
// Reset the visible menu flag
resetMenus();
// Sets the variable to true so it doesn't go into single module yet
in_main_motor_module = true;
// go to case 1 over all
transition_to(1);
break;
// Enter encoder test module
case ('e'):
*p_serial << PMS("->Selected: ") << char_in;
*p_serial
<< ATERM_CLEAR_SCREEN << ATERM_CURSOR_TO_YX(1, 1)
<< PMS ("\t->Switching to Encoder Module..")
<< endl
<< PMS ("\t->Clearing Registers and Menus..")
<< endl
<< PMS ("\t->Intializing Encoder..")
<< endl << endl;
// Reset the visible menu flag
resetMenus();
// Sets the variable to true so it doesn't go into single module yet
in_encoder_module = true;
// go to case 1 over all
transition_to(3);
break;
// The 't' command asks what time it is right now
// Enter encoder test module
case ('i'):
*p_serial << PMS("->Selected: ") << char_in;
*p_serial
<< ATERM_CLEAR_SCREEN << ATERM_CURSOR_TO_YX(1, 1)
<< PMS ("\t->Switching to IMU Module..")
<< endl
<< PMS ("\t->Clearing Registers and Menus..")
<< endl
<< PMS ("\t->Intializing IMU..")
<< endl << endl;
// Reset the visible menu flag
resetMenus();
// Sets the variable to true so it doesn't go into single module yet
in_imu_module = true;
// go to case 1 over all
transition_to(4);
break;
// The 't' command asks what time it is right now
case ('t'):
*p_serial << (a_time.set_to_now ()) << endl;
break;
// The 's' command asks for version and status information
case ('s'):
show_status ();
break;
// The 'd' means drive control
case ('d'):
*p_serial << PMS("->Selected: ") << char_in;
*p_serial
<< ATERM_CLEAR_SCREEN << ATERM_CURSOR_TO_YX(1, 1)
<< PMS ("\t->Switching to Drive Mode..")
<< endl << endl;
transition_to(5);
in_drive_mode = true;
resetMenus();
break;
//case ('d'):
// The 'h' command is a plea for help; '?' works also
case ('h'):
case ('?'):
print_help_message ();
break;
// The 'n' command runs a test of entering a number
case ('n'):
while (char_in != 'q')
{
*p_serial << PMS ("Enter decimal numeric digits, "
"then RETURN or ESC") << endl;
getNumberInput();
*p_serial << endl << endl << PMS("\t->You Entered: ") << number_entered << endl;
}
break;
// A control-C character causes the CPU to restart
case (3):
*p_serial << PMS ("Resetting AVR") << endl;
wdt_enable (WDTO_120MS);
for (;;);
break;
// If character isn't recognized, ask What's That Function?
default:
*p_serial << '"' << char_in << PMS ("\": WTF?") << endl;
break;
}; // End switch for characters
} // End if a character was received
break; // End of state 0
// Motor Control BASE module
case (1):
if (in_main_motor_module) //first time here run menu and get input
{
// prints the menu for this module
printMotorMenu();
// user is going to input motor number or q
getNumberInput();
if (char_in == 'q')
{
*p_serial << PMS("->Selected: ") << char_in << endl
<< endl
<< endl
<< PMS("\t->Returning to Mission Control.. ")
<< endl
<< PMS("\t->Releasing Motors..") << endl
<< PMS("\t->Resetting AVR..") << endl;
//wdt_enable (WDTO_120MS);
//for (;;);
//break;
//release motors
//motor_select->put(1);
//motor_directive -> put(FREEWHEEL);
//
// no longer in this module, leaving
in_main_motor_module = false;
transition_to(0);
resetMenus();
break;
//reset menu flag
//resetMenus();
// set the transition & wait for break
//transition_to(0);
}
// if the number entered is valid
else if (isValidMotor(number_entered))
{
// re print user input and give them confirmation message.
*p_serial
<< endl
<< endl
<< PMS("\t->Switching to Control of Motor ") << number_entered << dec << PMS(".") << endl
<< PMS ("\t->Return to the Main Motor Module to swap Motors.") << endl;
// set local motor select value
local_motor_select = number_entered;
//reset menus
resetMenus();
//set flag to off so we can go into the single motor module
in_main_motor_module = false;
// go back to the top of this menu
// since in_main_motor_module flag is set off, we will go into single motor control when this state reloops
transition_to(1);
}
else
{
*p_serial << PMS("Try Again. ") << endl;
in_main_motor_module = true;
}
break;
}
if (!in_main_motor_module) //already were here now we go deeper
{
printSingleMotorOptions();
// They now select the motor task
if (hasUserInput())
{
switch (char_in)
{
case ('s'):
*p_serial
<< PMS("->Selected: ") << char_in << endl;
*p_serial
<< endl
<< PMS ("Enter the Power Value (-255 to 255);")
<< endl
<< PMS(" *Note: Negative Values = Reverse")
<< endl;
//motor_directive -> put(1);
getNumberInput();
//setPower(motor_select->get(), number_entered);
setMotor(local_motor_select, (int16_t)number_entered, SETPOWER);
*p_serial
<< endl << endl
<< PMS ("\tPower set at ") << number_entered
<< PMS(". ") << endl;
resetMenus();
printDashBoard();
//now that operation is complete, ask for more
*p_serial
<< endl << PMS("->Choose Motor ")
<< local_motor_select << PMS(" operation: ")
<< PMS("\t(Press 'o' for options)")
<< endl;
break;
case ('b'):
*p_serial
<< PMS("->Selected: ") << char_in
<< endl;
*p_serial
<< PMS ("\t->Enter the Brake Force(0 - 255)")
<< endl;
getNumberInput();
*p_serial
<< endl << endl
<< PMS ("\tBrake set at ") << number_entered
<< PMS(". ") << endl;
setMotor(local_motor_select, number_entered, BRAKE);
resetMenus();
printDashBoard();
//now that operation is complete, ask for more
*p_serial
<< endl << PMS("->Choose Motor ")
<< local_motor_select << PMS(" operation: ")
<< PMS("\t(Press 'o' for options)")
<< endl;
break;
case ('f'):
*p_serial
<< PMS("->Selected: ") << char_in << endl;
*p_serial
<< PMS ("\t->Releasing Motor..") << endl;
setMotor(0, 0, FREEWHEEL);
resetMenus();
printDashBoard();
//now that operation is complete, ask for more
*p_serial
<< endl << PMS("->Choose Motor ")
<< local_motor_select << PMS(" operation: ")
<< PMS("\t(Press 'o' for options)")
<< endl;
break;
case ('p'):
*p_serial
<< endl << PMS("->Selected: ")
<< char_in << endl
<< PMS("\t->Entering Potentiometer Control... ") << endl;
*p_serial << PMS ("\t->Potentiometer Activated.") << endl << endl;
*p_serial << endl << endl
<< PMS ("\t->Press 'q' to return to the Motor ") << local_motor_select << PMS(" Control")
<< endl << PMS ("\t->Press 'r' to refresh the DashBoard ") << endl;
transition_to(2);
resetMenus();
break;
case ('o'):
resetMenus();
printSingleMotorOptions();
break;
case ('q'):
*p_serial
<< PMS("->Selected: ") << char_in << endl
<< PMS(" Returning to Main Motor Module.. ")
<< endl;
transition_to(1);
resetMenus();
in_main_motor_module = true;
break;
default:
*p_serial
<< endl << PMS("'") << char_in
<< PMS ("' is not a valid entry.") << endl;
*p_serial
<< endl << PMS("->Choose Motor ")
<< local_motor_select
<< PMS(" operation: ") << endl;
break;
}
}
}
break;
//Potentiometer Mode
case (2):
if (hasUserInput())
{
if (char_in == 'q')
{
*p_serial << endl << PMS("->Selected: ") << char_in << endl;
transition_to(1);
resetMenus();
break;
//
}
if (char_in == 'r')
{
*p_serial << endl << PMS("->Selected: ") << char_in << endl;
resetMenus();
printDashBoard();
*p_serial << endl << endl
<< PMS ("\t->Press 'q' to return to the Motor ") << local_motor_select << PMS(" Control")
<< endl << PMS ("\t->Press 'r' to refresh the DashBoard ") << endl;
}
}
setMotor(local_motor_select, motor_power -> get(), POTENTIOMETER);
printDashBoard();
break;
//for use later [3,4]
case (3):
if (in_encoder_module)
{
printEncoderModuleOptions();
if (hasUserInput())
switch (char_in)
{
case ('q'):
*p_serial << ATERM_CLEAR_SCREEN << ATERM_BKG_WHITE
<< PMS("->Selected: ") << char_in << endl
<< endl
<< endl
<< PMS("\t->Returning to Mission Control.. ")
<< endl
<< PMS("\t->Releasing Encoder..") << endl;
transition_to(0);
in_main_motor_module = true;
in_encoder_module = false;
resetMenus();
*p_serial
<< ATERM_CLEAR_SCREEN
<< ATERM_CURSOR_TO_YX(1, 1) << endl;
break;
case ('r'):
//constant refreshing already
transition_to(1)
in_imu_module = true;
break;
default:
break;
}
}
break;
case (4):
if (in_imu_module)
{
printIMUModuleOptions();
if (hasUserInput())
switch (char_in)
{
case ('q'):
*p_serial << ATERM_CLEAR_SCREEN
<< PMS("->Selected: ") << char_in << endl
<< endl
<< endl
<< PMS("\t->Returning to Mission Control.. ")
<< endl
<< PMS("\t->Releasing IMU..") << endl;
transition_to(0);
in_imu_module = false;
resetMenus();
break;
default:
break;
*p_serial << ATERM_CLEAR_SCREEN;
}
case ('r'):
break;
default:
break;
}
}
break;
// Drive Mode
case (5):
if (in_drive_mode)
{
printDriveModeOptions();
// printDashBoard();
if (hasUserInput())
switch (char_in)
{
case ('q'):
*p_serial << ATERM_CLEAR_SCREEN
<< PMS("->Selected: ") << char_in << endl
<< endl
<< endl
<< PMS("\t->Returning to Mission Control.. ")
<< endl
<< PMS("\t->Releasing Drive Mode..") << endl;
transition_to(0);
in_drive_mode = false;
resetMenus();
break;
case ('s'):
*p_serial << endl
<< PMS("Input Power Value for Motor: ")
<< endl;
getNumberInput();
setMotor(0, (int16_t)number_entered, SETPOWER);
*p_serial
<< endl << endl
<< PMS ("\tPower set at ") << number_entered
<< PMS (". ") << endl << endl
<< PMS ("Printing DashBoard.. ") << endl
<< endl;
resetMenus();
printDashBoard();
break;
case ('r'):
*p_serial
<< PMS ("Printing DashBoard.. ")
<< endl
<< endl;
resetMenus();
printDashBoard();
break;
default:
break;
}
int16_t x_direction = y_joystick -> get();
int16_t map_x = x_direction - 526;
if (x_direction > 526)
{
map_x = 2 * (x_direction - 526);
}
else
{
map_x = -2 * (526 - x_direction);
}
motor_setpoint -> put(map_x);
motor_directive -> put(SETPOWER);
// *p_serial
// << ATERM_CURSOR_TO_YX(19, 1)
// << ATERM_ERASE_IN_LINE(0)
// << gear_state -> get()
// << PMS ("\t\t")
// << motor_setpoint -> get()
// << PMS("\t")
// << PMS("\t")
// << motor_power -> get()
// << PMS("\t")
// << PMS("\t")
// << encoder_count -> get()
// << PMS("\t")
// << ATERM_CURSOR_TO_YX(23, 1)
// << ATERM_ERASE_IN_LINE(0)
// << steering_power -> get()
// << PMS(" \t")
// << encoder_ticks_per_task -> get()
// << PMS("\t")
// << PMS("\t")
// << x_joystick -> get()
// << PMS("\t")
// << PMS("\t")
// << y_joystick -> get()
// << PMS("\t");
*p_serial << encoder_ticks_per_task -> get() << endl;
}
break;
//JoyStick test
case (6):
break;
default:
*p_serial << PMS ("Illegal state! Resetting AVR") << endl;
wdt_enable (WDTO_120MS);
for (;;);
break;
} // End switch state
runs++; // Increment counter for debugging
// No matter the state, wait for approximately a millisecond before we
// run the loop again. This gives lower priority tasks a chance to run
delay_ms (5);
}
